GPU ray casting (single pass) with 3d textures in spherical coordinates - opengl

Question

i' am implementing an algorithm of volume rendering "GPU ray casting single pass". For this, i used a float array of intensity values as 3d textures ( this 3d textures describes a regular 3d grid in spherical coordinates ).
Here there are example of array values:
75.839354473071637,
64.083049468866022,
65.253933716444365,
79.992431196592577,
84.411485976957096,
0.0000000000000000,
82.020319431382831,
76.808403454586994,
79.974774618246158,
0.0000000000000000,
91.127273013466336,
84.009956557448433,
90.221356094672814,
87.567422484025627,
71.940263118478072,
0.0000000000000000,
0.0000000000000000,
74.487058398181944,
..................,
..................
(Here the complete data:[link] (https://drive.google.com/file/d/1lbXzRucUseF-ITzFgxqeLTd0WglJJOoz/view?usp=sharing))
the dimensions of spherical grid are (r,theta,phi)=(384,15,768), and this is the input format for load textures:
glTexImage3D(GL_TEXTURE_3D, 0, GL_R16F, 384, 15, 768, 0, GL_RED, GL_FLOAT, dataArray)
And This is an image of my visualization:
The problem is that the visuization should be a disk, or at least a similar form.
i think that the problme is i do not specify correctly the coordinates for textures( in spherical coordinates).
this is the vertex shader code:
#version 330 core
layout(location = 0) in vec3 vVertex; //object space vertex position
//uniform
uniform mat4 MVP; //combined modelview projection matrix
smooth out vec3 vUV; //3D texture coordinates for texture lookup in the fragment shader
void main()
{
//get the clipspace position
gl_Position = MVP*vec4(vVertex.xyz,1);
//get the 3D texture coordinates by adding (0.5,0.5,0.5) to the object space
//vertex position. Since the unit cube is at origin (min: (-0.5,-0.5,-0.5) and max: (0.5,0.5,0.5))
//adding (0.5,0.5,0.5) to the unit cube object space position gives us values from (0,0,0) to
//(1,1,1)
vUV = vVertex + vec3(0.5);
}
and this is the fragmen shader code:
#version 330 core
layout(location = 0) out vec4 vFragColor; //fragment shader output
smooth in vec3 vUV; //3D texture coordinates form vertex shader
//interpolated by rasterizer
//uniforms
uniform sampler3D volume; //volume dataset
uniform vec3 camPos; //camera position
uniform vec3 step_size; //ray step size
//constants
const int MAX_SAMPLES = 300; //total samples for each ray march step
const vec3 texMin = vec3(0); //minimum texture access coordinate
const vec3 texMax = vec3(1); //maximum texture access coordinate
vec4 colour_transfer(float intensity)
{
vec3 high = vec3(100.0, 20.0, 10.0);
// vec3 low = vec3(0.0, 0.0, 0.0);
float alpha = (exp(intensity) - 1.0) / (exp(1.0) - 1.0);
return vec4(intensity * high, alpha);
}
void main()
{
//get the 3D texture coordinates for lookup into the volume dataset
vec3 dataPos = vUV;
//Getting the ray marching direction:
//get the object space position by subracting 0.5 from the
//3D texture coordinates. Then subtraact it from camera position
//and normalize to get the ray marching direction
vec3 geomDir = normalize((vUV-vec3(0.5)) - camPos);
//multiply the raymarching direction with the step size to get the
//sub-step size we need to take at each raymarching step
vec3 dirStep = geomDir * step_size;
//flag to indicate if the raymarch loop should terminate
bool stop = false;
//for all samples along the ray
for (int i = 0; i < MAX_SAMPLES; i++) {
// advance ray by dirstep
dataPos = dataPos + dirStep;
stop = dot(sign(dataPos-texMin),sign(texMax-dataPos)) < 3.0;
//if the stopping condition is true we brek out of the ray marching loop
if (stop)
break;
// data fetching from the red channel of volume texture
float sample = texture(volume, dataPos).r;
vec4 c = colour_transfer(sample);
vFragColor.rgb = c.a * c.rgb + (1 - c.a) * vFragColor.a * vFragColor.rgb;
vFragColor.a = c.a + (1 - c.a) * vFragColor.a;
//early ray termination
//if the currently composited colour alpha is already fully saturated
//we terminated the loop
if( vFragColor.a>0.99)
break;
}
}
How can i specific the coordinates for i will visualize the information in the 3d textures, in spherical cordinates?
UPDATE:
vertex shader :
#version 330 core
layout(location = 0) in vec3 vVertex; //object space vertex position
//uniform
uniform mat4 MVP; //combined modelview projection matrix
smooth out vec3 vUV; //3D texture coordinates for texture lookup in the fragment shader
void main()
{
//get the clipspace position
gl_Position = MVP*vec4(vVertex.xyz,1);
//get the 3D texture coordinates by adding (0.5,0.5,0.5) to the object space
//vertex position. Since the unit cube is at origin (min: (-0.5,- 0.5,-0.5) and max: (0.5,0.5,0.5))
//adding (0.5,0.5,0.5) to the unit cube object space position gives us values from (0,0,0) to
//(1,1,1)
vUV = vVertex + vec3(0.5);
}
And fragment shader:
#version 330 core
#define Pi 3.1415926535897932384626433832795
layout(location = 0) out vec4 vFragColor; //fragment shader output
smooth in vec3 vUV; //3D texture coordinates form vertex shader
//interpolated by rasterizer
//uniforms
uniform sampler3D volume; //volume dataset
uniform vec3 camPos; //camera position
uniform vec3 step_size; //ray step size
//constants
const int MAX_SAMPLES = 200; //total samples for each ray march step
const vec3 texMin = vec3(0); //minimum texture access coordinate
const vec3 texMax = vec3(1); //maximum texture access coordinate
// transfer function that asigned a color and alpha from sample intensity
vec4 colour_transfer(float intensity)
{
vec3 high = vec3(100.0, 20.0, 10.0);
// vec3 low = vec3(0.0, 0.0, 0.0);
float alpha = (exp(intensity) - 1.0) / (exp(1.0) - 1.0);
return vec4(intensity * high, alpha);
}
// this function transform vector in spherical coordinates from cartesian
vec3 cart2Sphe(vec3 cart){
vec3 sphe;
sphe.x = sqrt(cart.x*cart.x+cart.y*cart.y+cart.z*cart.z);
sphe.z = atan(cart.y/cart.x);
sphe.y = atan(sqrt(cart.x*cart.x+cart.y*cart.y)/cart.z);
return sphe;
}
void main()
{
//get the 3D texture coordinates for lookup into the volume dataset
vec3 dataPos = vUV;
//Getting the ray marching direction:
//get the object space position by subracting 0.5 from the
//3D texture coordinates. Then subtraact it from camera position
//and normalize to get the ray marching direction
vec3 vec=(vUV-vec3(0.5));
vec3 spheVec=cart2Sphe(vec); // transform position to spherical
vec3 sphePos=cart2Sphe(camPos); //transform camPos to spherical
vec3 geomDir= normalize(spheVec-sphePos); // ray direction
//multiply the raymarching direction with the step size to get the
//sub-step size we need to take at each raymarching step
vec3 dirStep = geomDir * step_size ;
//flag to indicate if the raymarch loop should terminate
//for all samples along the ray
for (int i = 0; i < MAX_SAMPLES; i++) {
// advance ray by dirstep
dataPos = dataPos + dirStep;
float sample;
convert texture coordinates
vec3 spPos;
spPos.x=dataPos.x/384;
spPos.y=(dataPos.y+(Pi/2))/Pi;
spPos.z=dataPos.z/(2*Pi);
// get value from texture
sample = texture(volume,dataPos).r;
vec4 c = colour_transfer(sample)
// alpha blending function
vFragColor.rgb = c.a * c.rgb + (1 - c.a) * vFragColor.a * vFragColor.rgb;
vFragColor.a = c.a + (1 - c.a) * vFragColor.a;
if( vFragColor.a>1.0)
break;
}
// vFragColor.rgba = texture(volume,dataPos);
}
these are the point that generate a boundary cube:
glm::vec3 vertices[8] = {glm::vec3(-0.5f, -0.5f, -0.5f),
glm::vec3(0.5f, -0.5f, -0.5f),
glm::vec3(0.5f, 0.5f, -0.5f),
glm::vec3(-0.5f, 0.5f, -0.5f),
glm::vec3(-0.5f, -0.5f, 0.5f),
glm::vec3(0.5f, -0.5f, 0.5f),
glm::vec3(0.5f, 0.5f, 0.5f),
glm::vec3(-0.5f, 0.5f, 0.5f)};
//unit cube indices
GLushort cubeIndices[36] = {0, 5, 4,
5, 0, 1,
3, 7, 6,
3, 6, 2,
7, 4, 6,
6, 4, 5,
2, 1, 3,
3, 1, 0,
3, 0, 7,
7, 0, 4,
6, 5, 2,
2, 5, 1};
this is the visualization that it is generated:

Answer 1

I do not know what and how are you rendering. There are many techniques and configurations which can achieve them. I am usually using a single pass single quad render covering the screen/view while geometry/scene is passed as texture. As you have your object in a 3D texture then I think you should go this way too. This is how its done (Assuming perspective, uniform spherical voxel grid as a 3D texture):
CPU side code
simply render single QUAD covering the scene/view. To make this more simple and precise I recommend you to use your sphere local coordinate system for camera matrix which is passed to the shaders (it will ease up the ray/sphere intersections computations a lot).
Vertex
here you should cast/compute the ray position and direction for each vertex and pass it to the fragment so its interpolated for each pixel on the screen/view.
So the camera is described by its position (focal point) and view direction (usually Z- axis in perspective OpenGL). The ray is casted from the focal point (0,0,0) in camera local coordinates into the znear plane (x,y,-znear) also in camera local coordinates. Where x,y is the pixel screen position wit aspect ratio corrections applied if screen/view is not a square.
So you just convert these two points into sphere local coordinates (still Cartesian).
The ray direction is just substraction of the two points...
Fragment
first normalize ray direction passed from vertex (as due to interpolation it will not be unit vector). After that simply test ray/sphere intersection for each radius of the sphere voxel grid from outward to inward so test spheres from rmax to rmax/n where rmax is the max radius your 3D texture can have and n is ids resolution for axis corresponding to radius r.
On each hit convert the Cartesian intersection position to Spherical coordinates. Convert them to texture coordinates s,t,p and fetch the Voxel intensity and apply it to the color (how depends on what and how are you rendering).
So if your texture coordinates are (r,theta,phi)assuming phi is longitude and angles are normalized to <-Pi,Pi> and <0,2*Pi> and rmax is the max radius of the 3D texture then:
s = r/rmax
t = (theta+(Pi/2))/Pi
p = phi/(2*PI)
If your sphere is not transparent then stop on first hit with not empty Voxel intensity. Otherwise update ray start position and do this whole bullet again until ray goes out of the scene BBOX or no intersection occurs.
You can also add Snell's law (add reflection refraction) by splitting ray on object boundary hits...
Here are some related QAs using this technique or having valid info that will help you achieve this:
GLSL atmospheric scattering this is almost the same as you should do.
ray and ellipsoid intersection accuracy improvement math for the intersections
Curved Frosted Glass Shader? sub surface scattering
GLSL back raytrace through 3D mesh reflections and refractions in geometry inside 2D texture
GLSL back raytrace through 3D volume 3D Cartesian volume inside 3D texture
[Edit1] example (after the input 3D texture was finally posted
So when I put all the stuff above (and in comments) together I come up with this.
CPU side code:
//---------------------------------------------------------------------------
//--- GLSL Raytrace system ver: 1.000 ---------------------------------------
//---------------------------------------------------------------------------
#ifndef _raytrace_spherical_volume_h
#define _raytrace_spherical_volume_h
//---------------------------------------------------------------------------
class SphericalVolume3D
{
public:
bool _init; // has been initiated ?
GLuint txrvol; // SphericalVolume3D texture at GPU side
int xs,ys,zs;
float eye[16]; // direct camera matrix
float aspect,focal_length;
SphericalVolume3D() { _init=false; txrvol=-1; xs=0; ys=0; zs=0; aspect=1.0; focal_length=1.0; }
SphericalVolume3D(SphericalVolume3D& a) { *this=a; }
~SphericalVolume3D() { gl_exit(); }
SphericalVolume3D* operator = (const SphericalVolume3D *a) { *this=*a; return this; }
//SphericalVolume3D* operator = (const SphericalVolume3D &a) { ...copy... return this; }
// init/exit
void gl_init();
void gl_exit();
// render
void glsl_draw(GLint prog_id);
};
//---------------------------------------------------------------------------
void SphericalVolume3D::gl_init()
{
if (_init) return; _init=true;
// load 3D texture from file into CPU side memory
int hnd,siz; BYTE *dat;
hnd=FileOpen("Texture3D_F32.dat",fmOpenRead);
siz=FileSeek(hnd,0,2);
FileSeek(hnd,0,0);
dat=new BYTE[siz];
FileRead(hnd,dat,siz);
FileClose(hnd);
if (0)
{
int i,n=siz/sizeof(GLfloat);
GLfloat *p=(GLfloat*)dat;
for (i=0;i<n;i++) p[i]=100.5;
}
// copy it to GPU as 3D texture
// glClampColorARB(GL_CLAMP_VERTEX_COLOR_ARB, GL_FALSE);
// glClampColorARB(GL_CLAMP_READ_COLOR_ARB, GL_FALSE);
// glClampColorARB(GL_CLAMP_FRAGMENT_COLOR_ARB, GL_FALSE);
glGenTextures(1,&txrvol);
glEnable(GL_TEXTURE_3D);
glBindTexture(GL_TEXTURE_3D,txrvol);
glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_WRAP_S,GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_WRAP_T,GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_WRAP_R,GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_MAG_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE,GL_MODULATE);
xs=384;
ys= 15;
zs=768;
glTexImage3D(GL_TEXTURE_3D, 0, GL_R16F, xs,ys,zs, 0, GL_RED, GL_FLOAT, dat);
glBindTexture(GL_TEXTURE_3D,0);
glDisable(GL_TEXTURE_3D);
delete[] dat;
}
//---------------------------------------------------------------------------
void SphericalVolume3D::gl_exit()
{
if (!_init) return; _init=false;
glDeleteTextures(1,&txrvol);
}
//---------------------------------------------------------------------------
void SphericalVolume3D::glsl_draw(GLint prog_id)
{
GLint ix;
const int txru_vol=0;
glUseProgram(prog_id);
// uniforms
ix=glGetUniformLocation(prog_id,"zoom" ); glUniform1f(ix,1.0);
ix=glGetUniformLocation(prog_id,"aspect" ); glUniform1f(ix,aspect);
ix=glGetUniformLocation(prog_id,"focal_length"); glUniform1f(ix,focal_length);
ix=glGetUniformLocation(prog_id,"vol_xs" ); glUniform1i(ix,xs);
ix=glGetUniformLocation(prog_id,"vol_ys" ); glUniform1i(ix,ys);
ix=glGetUniformLocation(prog_id,"vol_zs" ); glUniform1i(ix,zs);
ix=glGetUniformLocation(prog_id,"vol_txr" ); glUniform1i(ix,txru_vol);
ix=glGetUniformLocation(prog_id,"tm_eye" ); glUniformMatrix4fv(ix,1,false,eye);
glActiveTexture(GL_TEXTURE0+txru_vol);
glEnable(GL_TEXTURE_3D);
glBindTexture(GL_TEXTURE_3D,txrvol);
// this should be a VAO/VBO
glColor4f(1.0,1.0,1.0,1.0);
glBegin(GL_QUADS);
glVertex2f(-1.0,-1.0);
glVertex2f(-1.0,+1.0);
glVertex2f(+1.0,+1.0);
glVertex2f(+1.0,-1.0);
glEnd();
glActiveTexture(GL_TEXTURE0+txru_vol);
glBindTexture(GL_TEXTURE_3D,0);
glDisable(GL_TEXTURE_3D);
glUseProgram(0);
}
//---------------------------------------------------------------------------
#endif
//---------------------------------------------------------------------------
call init on app start when GL is already inited, exit before app exit while GL still works and draw when needed... The code is C++/VCL based so port to your environment (file access, strings, etc..) I also use the 3D texture in binary form as loading 85MByte ASCII file is a bit too much for my taste.
Vertex:
//------------------------------------------------------------------
#version 420 core
//------------------------------------------------------------------
uniform float aspect;
uniform float focal_length;
uniform float zoom;
uniform mat4x4 tm_eye;
layout(location=0) in vec2 pos;
out smooth vec3 ray_pos; // ray start position
out smooth vec3 ray_dir; // ray start direction
//------------------------------------------------------------------
void main(void)
{
vec4 p;
// perspective projection
p=tm_eye*vec4(pos.x/(zoom*aspect),pos.y/zoom,0.0,1.0);
ray_pos=p.xyz;
p-=tm_eye*vec4(0.0,0.0,-focal_length,1.0);
ray_dir=normalize(p.xyz);
gl_Position=vec4(pos,0.0,1.0);
}
//------------------------------------------------------------------
its more or less a copy from the volumetric ray tracer link.
Fragment:
//------------------------------------------------------------------
#version 420 core
//------------------------------------------------------------------
// Ray tracer ver: 1.000
//------------------------------------------------------------------
in smooth vec3 ray_pos; // ray start position
in smooth vec3 ray_dir; // ray start direction
uniform int vol_xs, // texture resolution
vol_ys,
vol_zs;
uniform sampler3D vol_txr; // scene mesh data texture
out layout(location=0) vec4 frag_col;
//---------------------------------------------------------------------------
// compute length of ray(p0,dp) to intersection with ellipsoid((0,0,0),r) -> view_depth_l0,1
// where r.x is elipsoid rx^-2, r.y = ry^-2 and r.z=rz^-2
float view_depth_l0=-1.0,view_depth_l1=-1.0;
bool _view_depth(vec3 _p0,vec3 _dp,vec3 _r)
{
double a,b,c,d,l0,l1;
dvec3 p0,dp,r;
p0=dvec3(_p0);
dp=dvec3(_dp);
r =dvec3(_r );
view_depth_l0=-1.0;
view_depth_l1=-1.0;
a=(dp.x*dp.x*r.x)
+(dp.y*dp.y*r.y)
+(dp.z*dp.z*r.z); a*=2.0;
b=(p0.x*dp.x*r.x)
+(p0.y*dp.y*r.y)
+(p0.z*dp.z*r.z); b*=2.0;
c=(p0.x*p0.x*r.x)
+(p0.y*p0.y*r.y)
+(p0.z*p0.z*r.z)-1.0;
d=((b*b)-(2.0*a*c));
if (d<0.0) return false;
d=sqrt(d);
l0=(-b+d)/a;
l1=(-b-d)/a;
if (abs(l0)>abs(l1)) { a=l0; l0=l1; l1=a; }
if (l0<0.0) { a=l0; l0=l1; l1=a; }
if (l0<0.0) return false;
view_depth_l0=float(l0);
view_depth_l1=float(l1);
return true;
}
//---------------------------------------------------------------------------
const float pi =3.1415926535897932384626433832795;
const float pi2=6.2831853071795864769252867665590;
float atanxy(float x,float y) // atan2 return < 0 , 2.0*M_PI >
{
int sx,sy;
float a;
const float _zero=1.0e-30;
sx=0; if (x<-_zero) sx=-1; if (x>+_zero) sx=+1;
sy=0; if (y<-_zero) sy=-1; if (y>+_zero) sy=+1;
if ((sy==0)&&(sx==0)) return 0;
if ((sx==0)&&(sy> 0)) return 0.5*pi;
if ((sx==0)&&(sy< 0)) return 1.5*pi;
if ((sy==0)&&(sx> 0)) return 0;
if ((sy==0)&&(sx< 0)) return pi;
a=y/x; if (a<0) a=-a;
a=atan(a);
if ((x>0)&&(y>0)) a=a;
if ((x<0)&&(y>0)) a=pi-a;
if ((x<0)&&(y<0)) a=pi+a;
if ((x>0)&&(y<0)) a=pi2-a;
return a;
}
//---------------------------------------------------------------------------
void main(void)
{
float a,b,r,_rr,c;
const float dr=1.0/float(vol_ys); // r step
const float saturation=1000.0; // color saturation voxel value
vec3 rr,p=ray_pos,dp=normalize(ray_dir);
for (c=0.0,r=1.0;r>1e-10;r-=dr) // check all radiuses inwards
{
_rr=1.0/(r*r); rr=vec3(_rr,_rr,_rr);
if (_view_depth(p,dp,rr)) // if ray hits sphere
{
p+=view_depth_l0*dp; // shift ray start position to the hit
a=atanxy(p.x,p.y); // comvert to spherical a,b,r
b=asin(p.z/r);
if (a<0.0) a+=pi2; // correct ranges...
b+=0.5*pi;
a/=pi2;
b/=pi;
// here do your stuff
c=texture(vol_txr,vec3(b,r,a)).r;// fetch voxel
if (c>saturation){ c=saturation; break; }
break;
}
}
c/=saturation;
frag_col=vec4(c,c,c,1.0);
}
//---------------------------------------------------------------------------
its a slight modification of the volumetric ray tracer link.
Beware that I assume that the axises inside the texture are:
latitude,r,longitude
implied by the resolutions (longitude should be double resolution of the latitude) so if it does not match your data just reorder the axises in fragment ... I have no clue what the values of the Voxel cell mean so I sum them like intensity/density for the final color and once saturation sum reached stop the raytrace but instead you should your computation stuff you intend.
Here preview:
I used this camera matrix eye for it:
// globals
SphericalVolume3D vol;
// init (GL must be already working)
vol.gl_init();
// render
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_CULL_FACE);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0,0.0,-2.5);
glGetFloatv(GL_MODELVIEW_MATRIX,vol.eye);
vol.glsl_draw(prog_id);
glFlush();
SwapBuffers(hdc);
// exit (GL must be still working)
vol.gl_init();
The ray/sphere hit is working properly, also the hit position in spherical coordinates are working as should so the only thing left is the axis order and color arithmetics ...